Study on Robust Output-Tracking Control of the Sonar Array

Based on the feedback linearization approach of the differential geometry theory and the compound Lyapunov method, and by the introduction of the parameterization error, this paper analyzes the exponentially output-tracking control law of adjusting the parameter epsiv. Then after studying the robust output-tracking of the indefinite sonar array attitude control system that possesses characteristics of multi-variable, nonlinear and indeterminism, this paper designs the sonar array robust output-tracking controller, and forms the robust control strategy of the disturbance decoupling, output-tracking and indeterminism compensation as well. Finally the simulation is carried on, and the result shows the validity and feasibility of the proposed control strategy